2.5 - Rotation work (axis angle bugfixes + cleanups)

* Made transform work better with axis-angle
* Corrected the rotation-type handling code in a few places

6 files changed, 70 insertions, 28 deletions

diff --git a/source/blender/editors/armature/editarmature.c b/source/blender/editors/armature/editarmature.c
index 4f5d8872384..3b6c9e9d13d 100644
--- a/source/blender/editors/armature/editarmature.c
+++ b/source/blender/editors/armature/editarmature.c
@@ -4856,9 +4856,13 @@ static int pose_clear_rot_exec(bContext *C, wmOperator *op)
 				QUATCOPY(quat1, pchan->quat);
 				QuatToEul(pchan->quat, oldeul);
 			}
+			else if (pchan->rotmode == PCHAN_ROT_AXISANGLE) {
+				continue; // XXX
+			}
 			else {
 				VECCOPY(oldeul, pchan->eul);
 			}
+			
 			eul[0]= eul[1]= eul[2]= 0.0f;
 			
 			if (pchan->protectflag & OB_LOCK_ROTX)
@@ -4875,6 +4879,9 @@ static int pose_clear_rot_exec(bContext *C, wmOperator *op)
 					QuatMulf(pchan->quat, -1.0f);
 				}
 			}
+			else if (pchan->rotmode == PCHAN_ROT_AXISANGLE) {
+				// TODO...
+			}
 			else {
 				VECCOPY(pchan->eul, eul);
 			}
@@ -4884,6 +4891,11 @@ static int pose_clear_rot_exec(bContext *C, wmOperator *op)
 				pchan->quat[1]=pchan->quat[2]=pchan->quat[3]= 0.0f; 
 				pchan->quat[0]= 1.0f;
 			}
+			else if (pchan->rotmode == PCHAN_ROT_AXISANGLE) {
+				/* by default, make rotation of 0 radians around y-axis (roll) */
+				pchan->quat[0]=pchan->quat[1]=pchan->quat[3]= 0.0f;
+				pchan->quat[2]= 1.0f;
+			}
 			else {
 				pchan->eul[0]= pchan->eul[1]= pchan->eul[2]= 0.0f;
 			}
diff --git a/source/blender/editors/armature/poselib.c b/source/blender/editors/armature/poselib.c
index 56d714fd058..46d08afa656 100644
--- a/source/blender/editors/armature/poselib.c
+++ b/source/blender/editors/armature/poselib.c
@@ -278,8 +278,7 @@ void poselib_validate_act (bAction *act)
 /* ************************************************************* */
 
 /* Pointers to the builtin KeyingSets that we want to use */
-static KeyingSet *poselib_ks_locrotscale = NULL;		/* quaternion rotations */
-static KeyingSet *poselib_ks_locrotscale2 = NULL;		/* euler rotations */		// XXX FIXME...
+static KeyingSet *poselib_ks_locrotscale = NULL;		/* the only keyingset we'll need*/
 static short poselib_ks_need_init= 1;					/* have the above been obtained yet? */
 
 /* Make sure the builtin KeyingSets are initialised properly 
@@ -290,13 +289,9 @@ static void poselib_get_builtin_keyingsets (void)
 	/* only if we haven't got these yet */
 	// FIXME: this assumes that we will always get the builtin sets... 
 	if (poselib_ks_need_init) {
-		/* LocRotScale (quaternions) */
+		/* LocRotScale (quaternions or eulers depending on context) */
 		poselib_ks_locrotscale= ANIM_builtin_keyingset_get_named(NULL, "LocRotScale");
 		
-		/* LocRotScale (euler) */
-		//ks_locrotscale2= ANIM_builtin_keyingset_get_named(ks_locrotscale, "LocRotScale");
-		poselib_ks_locrotscale2= poselib_ks_locrotscale; // FIXME: for now, just use the same one...
-		
 		/* clear flag requesting init */
 		poselib_ks_need_init= 0;
 	}
@@ -410,11 +405,8 @@ static int poselib_add_exec (bContext *C, wmOperator *op)
 				/* init cks for this PoseChannel, then use the relative KeyingSets to keyframe it */
 				cks.pchan= pchan;
 				
-				/* KeyingSet to use depends on rotation mode  */
-				if (pchan->rotmode)
-					modify_keyframes(C, &dsources, act, poselib_ks_locrotscale2, MODIFYKEY_MODE_INSERT, (float)frame);
-				else
-					modify_keyframes(C, &dsources, act, poselib_ks_locrotscale, MODIFYKEY_MODE_INSERT, (float)frame);
+				/* KeyingSet to use depends on rotation mode (but that's handled by the templates code)  */
+				modify_keyframes(C, &dsources, act, poselib_ks_locrotscale, MODIFYKEY_MODE_INSERT, (float)frame);
 			}
 		}
 	}
diff --git a/source/blender/editors/armature/poseobject.c b/source/blender/editors/armature/poseobject.c
index 0ae92de4407..9a404e24e12 100644
--- a/source/blender/editors/armature/poseobject.c
+++ b/source/blender/editors/armature/poseobject.c
@@ -812,10 +812,17 @@ void pose_copy_menu(Scene *scene)
 						
 						armature_mat_pose_to_bone(pchan, pchanact->pose_mat, delta_mat);
 						
-						if (pchan->rotmode > 0) 
-							Mat4ToEulO(delta_mat, pchan->eul, pchan->rotmode);
-						else
+						if (pchan->rotmode == PCHAN_ROT_AXISANGLE) {
+							float tmp_quat[4];
+							
+							/* need to convert to quat first (in temp var)... */
+							Mat4ToQuat(delta_mat, tmp_quat);
+							QuatToAxisAngle(tmp_quat, &pchan->quat[1], &pchan->quat[0]);
+						}
+						else if (pchan->rotmode == PCHAN_ROT_QUAT)
 							Mat4ToQuat(delta_mat, pchan->quat);
+						else
+							Mat4ToEulO(delta_mat, pchan->eul, pchan->rotmode);
 					}
 						break;
 					case 11: /* Visual Size */
@@ -991,6 +998,7 @@ static int pose_paste_exec (bContext *C, wmOperator *op)
 				pchan->flag= chan->flag;
 				
 				/* check if rotation modes are compatible (i.e. do they need any conversions) */
+				// FIXME: add axis-angle here too...
 				if (pchan->rotmode == chan->rotmode) {
 					/* copy the type of rotation in use */
 					if (pchan->rotmode > 0) {
diff --git a/source/blender/editors/space_view3d/view3d_buttons.c b/source/blender/editors/space_view3d/view3d_buttons.c
index 06320f871da..d78928921e5 100644
--- a/source/blender/editors/space_view3d/view3d_buttons.c
+++ b/source/blender/editors/space_view3d/view3d_buttons.c
@@ -511,8 +511,17 @@ static void v3d_posearmature_buts(uiBlock *block, View3D *v3d, Object *ob, float
 		but= uiDefBut(block, TEX, B_NOP, "Bone:",				160, 140, 140, 19, bone->name, 1, 31, 0, 0, "");
 	uiButSetFunc(but, validate_bonebutton_cb, bone, NULL);
 	uiButSetCompleteFunc(but, autocomplete_bone, (void *)ob);
-
-	QuatToEulO(pchan->quat, tfp->ob_eul, pchan->rotmode); // XXX?
+	
+	if (pchan->rotmode == PCHAN_ROT_AXISANGLE) {
+		float quat[4];
+		/* convert to euler, passing through quats... */
+		AxisAngleToQuat(quat, &pchan->quat[1], pchan->quat[0]);
+		QuatToEul(quat, tfp->ob_eul);
+	}
+	else if (pchan->rotmode == PCHAN_ROT_QUAT)
+		QuatToEul(pchan->quat, tfp->ob_eul);
+	else
+		VecCopyf(tfp->ob_eul, pchan->eul);
 	tfp->ob_eul[0]*= 180.0/M_PI;
 	tfp->ob_eul[1]*= 180.0/M_PI;
 	tfp->ob_eul[2]*= 180.0/M_PI;
@@ -841,7 +850,18 @@ static void do_view3d_region_buttons(bContext *C, void *arg, int event)
 			eul[0]= M_PI*tfp->ob_eul[0]/180.0;
 			eul[1]= M_PI*tfp->ob_eul[1]/180.0;
 			eul[2]= M_PI*tfp->ob_eul[2]/180.0;
-			EulOToQuat(eul, pchan->rotmode, pchan->quat); // xxx?
+			
+			if (pchan->rotmode == PCHAN_ROT_AXISANGLE) {
+				float quat[4];
+				/* convert to axis-angle, passing through quats  */
+				EulToQuat(eul, quat);
+				QuatToAxisAngle(quat, &pchan->quat[1], &pchan->quat[0]);
+			}
+			else if (pchan->rotmode == PCHAN_ROT_QUAT)
+				EulToQuat(eul, pchan->quat);
+			else
+				VecCopyf(pchan->eul, eul);
+			
 		}
 		/* no break, pass on */
 	case B_ARMATUREPANEL2:
diff --git a/source/blender/editors/transform/transform.c b/source/blender/editors/transform/transform.c
index ac5d688cd1c..6405e87c4c0 100644
--- a/source/blender/editors/transform/transform.c
+++ b/source/blender/editors/transform/transform.c
@@ -2673,14 +2673,25 @@ static void ElementRotation(TransInfo *t, TransData *td, float mat[3][3], short
 				/* this function works on end result */
 				protectedQuaternionBits(td->protectflag, td->ext->quat, td->ext->iquat);
 				
-				/* if axis-angle, we now convert the quat representation to axis-angle again
-				 * 	- this means that the math above is not totally correct, but it works well enough so far...
-				 */
-				if (td->rotOrder == PCHAN_ROT_AXISANGLE) {	
-					/* make temp copy (since stored in same place) */
-					QuatCopy(quat, td->ext->quat);
-					QuatToAxisAngle(quat, &td->ext->quat[1], &td->ext->quat[0]); 
-				}
+			}
+			else if (td->rotOrder == PCHAN_ROT_AXISANGLE) {
+				/* calculate effect based on quats */
+				float iquat[4];
+				
+				/* td->ext->(i)quat is in axis-angle form, not quats! */
+				AxisAngleToQuat(iquat, &td->ext->iquat[1], td->ext->iquat[0]);
+				
+				Mat3MulSerie(fmat, td->mtx, mat, td->smtx, 0, 0, 0, 0, 0);
+				Mat3ToQuat(fmat, quat);	// Actual transform
+				
+				QuatMul(td->ext->quat, quat, iquat);
+				
+				/* this function works on end result */
+				protectedQuaternionBits(td->protectflag, td->ext->quat, td->ext->iquat);
+				
+				/* make temp copy (since stored in same place) */
+				QuatCopy(quat, td->ext->quat);
+				QuatToAxisAngle(quat, &td->ext->quat[1], &td->ext->quat[0]); 
 			}
 			else { 
 				float eulmat[3][3];
diff --git a/source/blender/editors/transform/transform_conversions.c b/source/blender/editors/transform/transform_conversions.c
index 7a37ffdeeca..e0d058f160f 100644
--- a/source/blender/editors/transform/transform_conversions.c
+++ b/source/blender/editors/transform/transform_conversions.c
@@ -552,9 +552,8 @@ static void add_pose_transdata(TransInfo *t, bPoseChannel *pchan, Object *ob, Tr
 
 	td->ob = ob;
 	td->flag = TD_SELECTED;
-	if ((pchan->rotmode == PCHAN_ROT_QUAT) || (pchan->rotmode == PCHAN_ROT_AXISANGLE)) 
+	if (pchan->rotmode == PCHAN_ROT_QUAT) 
 	{
-		// XXX: for now, axis-angle will be treated like for quats (the only difference is the normalisation)
 		td->flag |= TD_USEQUAT;
 	}
 	if (bone->flag & BONE_HINGE_CHILD_TRANSFORM)